ctre::phoenix6::hardware::traits::HasTalonControls Class Reference

Contains all control functions available for devices that support Talon controls. More...

#include <ctre/phoenix6/hardware/traits/HasTalonControls.hpp>

Inheritance diagram for ctre::phoenix6::hardware::traits::HasTalonControls:

Public Member Functions
virtual	~HasTalonControls ()=default
virtual ctre::phoenix::StatusCode	SetControl (controls::DutyCycleOut const &request)=0
	Request a specified motor duty cycle.
virtual ctre::phoenix::StatusCode	SetControl (controls::VoltageOut const &request)=0
	Request a specified voltage.
virtual ctre::phoenix::StatusCode	SetControl (controls::PositionDutyCycle const &request)=0
	Request PID to target position with duty cycle feedforward.
virtual ctre::phoenix::StatusCode	SetControl (controls::PositionVoltage const &request)=0
	Request PID to target position with voltage feedforward.
virtual ctre::phoenix::StatusCode	SetControl (controls::VelocityDutyCycle const &request)=0
	Request PID to target velocity with duty cycle feedforward.
virtual ctre::phoenix::StatusCode	SetControl (controls::VelocityVoltage const &request)=0
	Request PID to target velocity with voltage feedforward.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicDutyCycle const &request)=0
	Requests Motion Magic® to target a final position using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVoltage const &request)=0
	Requests Motion Magic® to target a final position using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityDutyCycle const &request)=0
	Requests Motion Magic® to target a final velocity using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicVelocityVoltage const &request)=0
	Requests Motion Magic® to target a final velocity using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoDutyCycle const &request)=0
	Requests Motion Magic® to target a final position using an exponential motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::MotionMagicExpoVoltage const &request)=0
	Requests Motion Magic® to target a final position using an exponential motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicDutyCycle const &request)=0
	Requests Motion Magic® to target a final position using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicVoltage const &request)=0
	Requests Motion Magic® to target a final position using a motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicExpoDutyCycle const &request)=0
	Requests Motion Magic® Expo to target a final position using an exponential motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::DynamicMotionMagicExpoVoltage const &request)=0
	Requests Motion Magic® Expo to target a final position using an exponential motion profile.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialDutyCycle const &request)=0
	Request a specified motor duty cycle with a differential position closed-loop.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialVoltage const &request)=0
	Request a specified voltage with a differential position closed-loop.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionDutyCycle const &request)=0
	Request PID to target position with a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialPositionVoltage const &request)=0
	Request PID to target position with a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityDutyCycle const &request)=0
	Request PID to target velocity with a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialVelocityVoltage const &request)=0
	Request PID to target velocity with a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicDutyCycle const &request)=0
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVoltage const &request)=0
	Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicExpoDutyCycle const &request)=0
	Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicExpoVoltage const &request)=0
	Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVelocityDutyCycle const &request)=0
	Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialMotionMagicVelocityVoltage const &request)=0
	Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.
virtual ctre::phoenix::StatusCode	SetControl (controls::Follower const &request)=0
	Follow the motor output of another Talon.
virtual ctre::phoenix::StatusCode	SetControl (controls::StrictFollower const &request)=0
	Follow the motor output of another Talon while ignoring the leader's invert setting.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialFollower const &request)=0
	Follow the differential motor output of another Talon.
virtual ctre::phoenix::StatusCode	SetControl (controls::DifferentialStrictFollower const &request)=0
	Follow the differential motor output of another Talon while ignoring the leader's invert setting.
virtual ctre::phoenix::StatusCode	SetControl (controls::StaticBrake const &request)=0
	Applies full neutral-brake by shorting motor leads together.
virtual ctre::phoenix::StatusCode	SetControl (controls::NeutralOut const &request)=0
	Request neutral output of actuator.
virtual ctre::phoenix::StatusCode	SetControl (controls::CoastOut const &request)=0
	Request coast neutral output of actuator.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Position const &request)=0
	Differential control with duty cycle average target and position difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Position const &request)=0
	Differential control with position average target and position difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Position const &request)=0
	Differential control with velocity average target and position difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Position const &request)=0
	Differential control with Motion Magic® average target and position difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Position const &request)=0
	Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Position const &request)=0
	Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Velocity const &request)=0
	Differential control with duty cycle average target and velocity difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Velocity const &request)=0
	Differential control with position average target and velocity difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Velocity const &request)=0
	Differential control with velocity average target and velocity difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Velocity const &request)=0
	Differential control with Motion Magic® average target and velocity difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Velocity const &request)=0
	Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Velocity const &request)=0
	Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_DutyCycleOut_Open const &request)=0
	Differential control with duty cycle average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionDutyCycle_Open const &request)=0
	Differential control with position average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityDutyCycle_Open const &request)=0
	Differential control with velocity average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicDutyCycle_Open const &request)=0
	Differential control with Motion Magic® average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoDutyCycle_Open const &request)=0
	Differential control with Motion Magic® Expo average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityDutyCycle_Open const &request)=0
	Differential control with Motion Magic® Velocity average target and duty cycle difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Position const &request)=0
	Differential control with voltage average target and position difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Position const &request)=0
	Differential control with position average target and position difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Position const &request)=0
	Differential control with velocity average target and position difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Position const &request)=0
	Differential control with Motion Magic® average target and position difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Position const &request)=0
	Differential control with Motion Magic® Expo average target and position difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Position const &request)=0
	Differential control with Motion Magic® Velocity average target and position difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Velocity const &request)=0
	Differential control with voltage average target and velocity difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Velocity const &request)=0
	Differential control with position average target and velocity difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Velocity const &request)=0
	Differential control with velocity average target and velocity difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Velocity const &request)=0
	Differential control with Motion Magic® average target and velocity difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Velocity const &request)=0
	Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Velocity const &request)=0
	Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VoltageOut_Open const &request)=0
	Differential control with voltage average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_PositionVoltage_Open const &request)=0
	Differential control with position average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_VelocityVoltage_Open const &request)=0
	Differential control with velocity average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVoltage_Open const &request)=0
	Differential control with Motion Magic® average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicExpoVoltage_Open const &request)=0
	Differential control with Motion Magic® Expo average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::compound::Diff_MotionMagicVelocityVoltage_Open const &request)=0
	Differential control with Motion Magic® Velocity average target and voltage difference target.
virtual ctre::phoenix::StatusCode	SetControl (controls::EmptyControl const &request)=0
	Apply a generic empty control used to do nothing.
virtual ctre::phoenix::StatusCode	SetControl (controls::ControlRequest const &request)=0
	Control device with generic control request object.
Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default
virtual int	GetDeviceID () const =0
virtual CANBus	GetNetwork () const =0
virtual uint64_t	GetDeviceHash () const =0
	Gets a number unique for this device's hardware type and ID.
virtual std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const =0
	Get the latest applied control.
virtual std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()=0
	Get the latest applied control.
virtual bool	HasResetOccurred ()=0
virtual std::function< bool()>	GetResetOccurredChecker () const =0
virtual bool	IsConnected (units::second_t maxLatencySeconds=500_ms)=0
	Returns whether the device is still connected to the robot.
virtual ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms)=0
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.
virtual ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)=0
	Resets the update frequencies of all the device's status signals to the defaults.

Detailed Description

Contains all control functions available for devices that support Talon controls.

Constructor & Destructor Documentation

~HasTalonControls()

virtual ctre::phoenix6::hardware::traits::HasTalonControls::~HasTalonControls ( )

virtualdefault

Member Function Documentation

SetControl() [1/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::CoastOut const & request )

pure virtual

Request coast neutral output of actuator.

The bridge is disabled and the rotor is allowed to coast.

• CoastOut Parameters:

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [2/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_DutyCycleOut_Open const & request )

pure virtual

Differential control with duty cycle average target and duty cycle difference target.

• Diff_DutyCycleOut_Open Parameters:
  • AverageRequest: Average DutyCycleOut request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [3/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_DutyCycleOut_Position const & request )

pure virtual

Differential control with duty cycle average target and position difference target.

• Diff_DutyCycleOut_Position Parameters:
  • AverageRequest: Average DutyCycleOut request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [4/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_DutyCycleOut_Velocity const & request )

pure virtual

Differential control with duty cycle average target and velocity difference target.

• Diff_DutyCycleOut_Velocity Parameters:
  • AverageRequest: Average DutyCycleOut request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [5/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Open const & request )

pure virtual

Differential control with Motion Magic® average target and duty cycle difference target.

• Diff_MotionMagicDutyCycle_Open Parameters:
  • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [6/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Position const & request )

pure virtual

Differential control with Motion Magic® average target and position difference target using duty cycle control.

• Diff_MotionMagicDutyCycle_Position Parameters:
  • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [7/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicDutyCycle_Velocity const & request )

pure virtual

Differential control with Motion Magic® average target and velocity difference target using duty cycle control.

• Diff_MotionMagicDutyCycle_Velocity Parameters:
  • AverageRequest: Average MotionMagicDutyCycle request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [8/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Open const & request )

pure virtual

Differential control with Motion Magic® Expo average target and duty cycle difference target.

• Diff_MotionMagicExpoDutyCycle_Open Parameters:
  • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [9/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Position const & request )

pure virtual

Differential control with Motion Magic® Expo average target and position difference target using duty cycle control.

• Diff_MotionMagicExpoDutyCycle_Position Parameters:
  • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [10/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoDutyCycle_Velocity const & request )

pure virtual

Differential control with Motion Magic® Expo average target and velocity difference target using duty cycle control.

• Diff_MotionMagicExpoDutyCycle_Velocity Parameters:
  • AverageRequest: Average MotionMagicExpoDutyCycle request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [11/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Open const & request )

pure virtual

Differential control with Motion Magic® Expo average target and voltage difference target.

• Diff_MotionMagicExpoVoltage_Open Parameters:
  • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [12/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Position const & request )

pure virtual

Differential control with Motion Magic® Expo average target and position difference target using voltage control.

• Diff_MotionMagicExpoVoltage_Position Parameters:
  • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [13/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicExpoVoltage_Velocity const & request )

pure virtual

Differential control with Motion Magic® Expo average target and velocity difference target using voltage control.

• Diff_MotionMagicExpoVoltage_Velocity Parameters:
  • AverageRequest: Average MotionMagicExpoVoltage request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [14/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Open const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and duty cycle difference target.

• Diff_MotionMagicVelocityDutyCycle_Open Parameters:
  • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [15/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Position const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and position difference target using duty cycle control.

• Diff_MotionMagicVelocityDutyCycle_Position Parameters:
  • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [16/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityDutyCycle_Velocity const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and velocity difference target using duty cycle control.

• Diff_MotionMagicVelocityDutyCycle_Velocity Parameters:
  • AverageRequest: Average MotionMagicVelocityDutyCycle request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [17/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Open const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and voltage difference target.

• Diff_MotionMagicVelocityVoltage_Open Parameters:
  • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [18/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Position const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and position difference target using voltage control.

• Diff_MotionMagicVelocityVoltage_Position Parameters:
  • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [19/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVelocityVoltage_Velocity const & request )

pure virtual

Differential control with Motion Magic® Velocity average target and velocity difference target using voltage control.

• Diff_MotionMagicVelocityVoltage_Velocity Parameters:
  • AverageRequest: Average MotionMagicVelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [20/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVoltage_Open const & request )

pure virtual

Differential control with Motion Magic® average target and voltage difference target.

• Diff_MotionMagicVoltage_Open Parameters:
  • AverageRequest: Average MotionMagicVoltage request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [21/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVoltage_Position const & request )

pure virtual

Differential control with Motion Magic® average target and position difference target using voltage control.

• Diff_MotionMagicVoltage_Position Parameters:
  • AverageRequest: Average MotionMagicVoltage request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [22/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_MotionMagicVoltage_Velocity const & request )

pure virtual

Differential control with Motion Magic® average target and velocity difference target using voltage control.

• Diff_MotionMagicVoltage_Velocity Parameters:
  • AverageRequest: Average MotionMagicVoltage request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [23/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionDutyCycle_Open const & request )

pure virtual

Differential control with position average target and duty cycle difference target.

• Diff_PositionDutyCycle_Open Parameters:
  • AverageRequest: Average PositionDutyCycle request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [24/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionDutyCycle_Position const & request )

pure virtual

Differential control with position average target and position difference target using duty cycle control.

• Diff_PositionDutyCycle_Position Parameters:
  • AverageRequest: Average PositionDutyCycle request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [25/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionDutyCycle_Velocity const & request )

pure virtual

Differential control with position average target and velocity difference target using duty cycle control.

• Diff_PositionDutyCycle_Velocity Parameters:
  • AverageRequest: Average PositionDutyCycle request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [26/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionVoltage_Open const & request )

pure virtual

Differential control with position average target and voltage difference target.

• Diff_PositionVoltage_Open Parameters:
  • AverageRequest: Average PositionVoltage request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [27/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionVoltage_Position const & request )

pure virtual

Differential control with position average target and position difference target using voltage control.

• Diff_PositionVoltage_Position Parameters:
  • AverageRequest: Average PositionVoltage request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [28/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_PositionVoltage_Velocity const & request )

pure virtual

Differential control with position average target and velocity difference target using voltage control.

• Diff_PositionVoltage_Velocity Parameters:
  • AverageRequest: Average PositionVoltage request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [29/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityDutyCycle_Open const & request )

pure virtual

Differential control with velocity average target and duty cycle difference target.

• Diff_VelocityDutyCycle_Open Parameters:
  • AverageRequest: Average VelocityDutyCYcle request of the mechanism.
  • DifferentialRequest: Differential DutyCycleOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [30/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityDutyCycle_Position const & request )

pure virtual

Differential control with velocity average target and position difference target using duty cycle control.

• Diff_VelocityDutyCycle_Position Parameters:
  • AverageRequest: Average VelocityDutyCYcle request of the mechanism.
  • DifferentialRequest: Differential PositionDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [31/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityDutyCycle_Velocity const & request )

pure virtual

Differential control with velocity average target and velocity difference target using duty cycle control.

• Diff_VelocityDutyCycle_Velocity Parameters:
  • AverageRequest: Average VelocityDutyCycle request of the mechanism.
  • DifferentialRequest: Differential VelocityDutyCycle request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [32/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityVoltage_Open const & request )

pure virtual

Differential control with velocity average target and voltage difference target.

• Diff_VelocityVoltage_Open Parameters:
  • AverageRequest: Average VelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [33/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityVoltage_Position const & request )

pure virtual

Differential control with velocity average target and position difference target using voltage control.

• Diff_VelocityVoltage_Position Parameters:
  • AverageRequest: Average VelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [34/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VelocityVoltage_Velocity const & request )

pure virtual

Differential control with velocity average target and velocity difference target using voltage control.

• Diff_VelocityVoltage_Velocity Parameters:
  • AverageRequest: Average VelocityVoltage request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [35/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VoltageOut_Open const & request )

pure virtual

Differential control with voltage average target and voltage difference target.

• Diff_VoltageOut_Open Parameters:
  • AverageRequest: Average VoltageOut request of the mechanism.
  • DifferentialRequest: Differential VoltageOut request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [36/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VoltageOut_Position const & request )

pure virtual

Differential control with voltage average target and position difference target.

• Diff_VoltageOut_Position Parameters:
  • AverageRequest: Average VoltageOut request of the mechanism.
  • DifferentialRequest: Differential PositionVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [37/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::compound::Diff_VoltageOut_Velocity const & request )

pure virtual

Differential control with voltage average target and velocity difference target.

• Diff_VoltageOut_Velocity Parameters:
  • AverageRequest: Average VoltageOut request of the mechanism.
  • DifferentialRequest: Differential VelocityVoltage request of the mechanism.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [38/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::ControlRequest const & request )

pure virtual

Control device with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, ctre::phoenix6::hardware::traits::CommonTalon, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

SetControl() [39/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialDutyCycle const & request )

pure virtual

Request a specified motor duty cycle with a differential position closed-loop.

This control mode will output a proportion of the supplied voltage which is supplied by the user. It will also set the motor's differential position setpoint to the specified position.

• DifferentialDutyCycle Parameters:
  • AverageOutput: Proportion of supply voltage to apply on the Average axis in fractional units between -1 and +1.
  • DifferentialPosition: Differential position to drive towards in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [40/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialFollower const & request )

pure virtual

Follow the differential motor output of another Talon.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction either matches leader's configured direction or opposes it based on the MotorAlignment.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

• DifferentialFollower Parameters:
  • LeaderID: Device ID of the differential leader to follow.
  • MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [41/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• DifferentialMotionMagicDutyCycle Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [42/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicExpoDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• DifferentialMotionMagicExpoDutyCycle Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [43/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicExpoVoltage const & request )

pure virtual

Requests Motion Magic® to target a final position using an exponential motion profile, and PID to a differential position setpoint.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• DifferentialMotionMagicExpoVoltage Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [44/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicVelocityDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• DifferentialMotionMagicVelocityDutyCycle Parameters:
  • AverageVelocity: Average velocity to drive toward in rotations per second.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [45/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicVelocityVoltage const & request )

pure virtual

Requests Motion Magic® to target a final velocity using a motion profile, and PID to a differential position setpoint.

This allows smooth transitions between velocity set points.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

Acceleration and jerk are specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• DifferentialMotionMagicVelocityVoltage Parameters:
  • AverageVelocity: Average velocity to drive toward in rotations per second.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [46/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialMotionMagicVoltage const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile, and PID to a differential position setpoint.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• DifferentialMotionMagicVoltage Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [47/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialPositionDutyCycle const & request )

pure virtual

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

• DifferentialPositionDutyCycle Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [48/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialPositionVoltage const & request )

pure virtual

Request PID to target position with a differential position setpoint.

This control mode will set the motor's position setpoint to the position specified by the user. It will also set the motor's differential position setpoint to the specified position.

• DifferentialPositionVoltage Parameters:
  • AveragePosition: Average position to drive toward in rotations.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [49/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialStrictFollower const & request )

pure virtual

Follow the differential motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use DifferentialFollower instead.

The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

• DifferentialStrictFollower Parameters:
  • LeaderID: Device ID of the differential leader to follow.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [50/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialVelocityDutyCycle const & request )

pure virtual

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

• DifferentialVelocityDutyCycle Parameters:
  • AverageVelocity: Average velocity to drive toward in rotations per second.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [51/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialVelocityVoltage const & request )

pure virtual

Request PID to target velocity with a differential position setpoint.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. It will also set the motor's differential position setpoint to the specified position.

• DifferentialVelocityVoltage Parameters:
  • AverageVelocity: Average velocity to drive toward in rotations per second.
  • DifferentialPosition: Differential position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • AverageSlot: Select which gains are applied to the average controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [52/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DifferentialVoltage const & request )

pure virtual

Request a specified voltage with a differential position closed-loop.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage. It will also set the motor's differential position setpoint to the specified position.

• DifferentialVoltage Parameters:
  • AverageOutput: Voltage to attempt to drive at on the Average axis.
  • DifferentialPosition: Differential position to drive towards in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • DifferentialSlot: Select which gains are applied to the differential controller by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [53/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DutyCycleOut const & request )

pure virtual

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

• DutyCycleOut Parameters:
  • Output: Proportion of supply voltage to apply in fractional units between -1 and +1

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [54/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DynamicMotionMagicDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• DynamicMotionMagicDutyCycle Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation

  • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

    Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [55/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DynamicMotionMagicExpoDutyCycle const & request )

pure virtual

Requests Motion Magic® Expo to target a final position using an exponential motion profile.

This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• DynamicMotionMagicExpoDutyCycle Parameters:
  • Position: Position to drive toward in rotations.

  • kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

    This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

  • kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

    This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

  • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [56/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DynamicMotionMagicExpoVoltage const & request )

pure virtual

Requests Motion Magic® Expo to target a final position using an exponential motion profile.

This dynamic request allows runtime changes to the profile kV, kA, and (optional) Cruise Velocity. Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the specified Cruise Velocity (optional) and the mechanism kV and kA. Note that unlike the slot gains, the Expo_kV and Expo_kA parameters are always in output units of Volts.

Setting the Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• DynamicMotionMagicExpoVoltage Parameters:
  • Position: Position to drive toward in rotations.

  • kV: Mechanism kV for profiling. Unlike the kV slot gain, this is always in units of V/rps.

    This represents the amount of voltage necessary to hold a velocity. In terms of the Motion Magic® Expo profile, a higher kV results in a slower maximum velocity.

  • kA: Mechanism kA for profiling. Unlike the kA slot gain, this is always in units of V/rps².

    This represents the amount of voltage necessary to achieve an acceleration. In terms of the Motion Magic® Expo profile, a higher kA results in a slower acceleration.

  • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation. Setting this to 0 will allow the profile to run to the max possible velocity based on Expo_kV.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [57/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::DynamicMotionMagicVoltage const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile.

This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and (optional) Jerk. Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and (optional) Jerk. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• DynamicMotionMagicVoltage Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
  • Acceleration: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

  • Jerk: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

    Jerk is optional; if this is set to zero, then Motion Magic® will not apply a Jerk limit.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [58/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::EmptyControl const & request )

pure virtual

Apply a generic empty control used to do nothing.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, ctre::phoenix6::hardware::traits::CommonTalon, and ctre::phoenix6::hardware::traits::CommonTalonWithFOC.

SetControl() [59/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::Follower const & request )

pure virtual

Follow the motor output of another Talon.

The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction either matches the leader's configured direction or opposes it based on the MotorAlignment.

The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

• Follower Parameters:
  • LeaderID: Device ID of the leader to follow.
  • MotorAlignment: Set to Aligned for motor invert to match the leader's configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader's configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [60/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• MotionMagicDutyCycle Parameters:
  • Position: Position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [61/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicExpoDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a duty cycle feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• MotionMagicExpoDutyCycle Parameters:
  • Position: Position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [62/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicExpoVoltage const & request )

pure virtual

Requests Motion Magic® to target a final position using an exponential motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® Expo produces a motion profile in real-time while attempting to honor the Cruise Velocity (optional) and the mechanism kV and kA, specified via the Motion Magic® configuration values. Note that unlike the slot gains, the Expo_kV and Expo_kA configs are always in output units of Volts.

Setting Cruise Velocity to 0 will allow the profile to run to the max possible velocity based on Expo_kV. This control mode does not use the Acceleration or Jerk configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• MotionMagicExpoVoltage Parameters:
  • Position: Position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [63/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicVelocityDutyCycle const & request )

pure virtual

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a duty cycle feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is duty cycle based, so relevant closed-loop gains will use fractional duty cycle for the numerator: +1.0 represents full forward output.

• MotionMagicVelocityDutyCycle Parameters:
  • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [64/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicVelocityVoltage const & request )

pure virtual

Requests Motion Magic® to target a final velocity using a motion profile.

This allows smooth transitions between velocity set points. Users can optionally provide a voltage feedforward.

Motion Magic® Velocity produces a motion profile in real-time while attempting to honor the specified Acceleration and (optional) Jerk. This control mode does not use the CruiseVelocity, Expo_kV, or Expo_kA configs.

If the specified acceleration is zero, the Acceleration under Motion Magic® configuration parameter is used instead. This allows for runtime adjustment of acceleration for advanced users. Jerk is also specified in the Motion Magic® persistent configuration values. If Jerk is set to zero, Motion Magic® will produce a trapezoidal acceleration profile.

Target velocity can also be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• MotionMagicVelocityVoltage Parameters:
  • Velocity: Target velocity to drive toward in rotations per second. This can be changed on-the fly.
  • Acceleration: This is the absolute Acceleration to use generating the profile. If this parameter is zero, the Acceleration persistent configuration parameter is used instead. Acceleration is in rotations per second squared. If nonzero, the signage does not matter as the absolute value is used.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [65/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::MotionMagicVoltage const & request )

pure virtual

Requests Motion Magic® to target a final position using a motion profile.

Users can optionally provide a voltage feedforward.

Motion Magic® produces a motion profile in real-time while attempting to honor the Cruise Velocity, Acceleration, and (optional) Jerk specified via the Motion Magic® configuration values. This control mode does not use the Expo_kV or Expo_kA configs.

Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is voltage-based, so relevant closed-loop gains will use Volts for the numerator.

• MotionMagicVoltage Parameters:
  • Position: Position to drive toward in rotations.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [66/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::NeutralOut const & request )

pure virtual

Request neutral output of actuator.

The applied brake type is determined by the NeutralMode configuration.

• NeutralOut Parameters:

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [67/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::PositionDutyCycle const & request )

pure virtual

Request PID to target position with duty cycle feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional duty cycle as an arbitrary feedforward value.

• PositionDutyCycle Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [68/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::PositionVoltage const & request )

pure virtual

Request PID to target position with voltage feedforward.

This control mode will set the motor's position setpoint to the position specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

• PositionVoltage Parameters:
  • Position: Position to drive toward in rotations.
  • Velocity: Velocity to drive toward in rotations per second. This is typically used for motion profiles generated by the robot program.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [69/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::StaticBrake const & request )

pure virtual

Applies full neutral-brake by shorting motor leads together.

• StaticBrake Parameters:

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [70/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::StrictFollower const & request )

pure virtual

Follow the motor output of another Talon while ignoring the leader's invert setting.

The follower will atomically change its output type when it receives the leader's latest output status signal (DutyCycle, MotorVoltage, TorqueCurrent). If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

The leader must ensure the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent) is enabled. The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

• StrictFollower Parameters:
  • LeaderID: Device ID of the leader to follow.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [71/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::VelocityDutyCycle const & request )

pure virtual

Request PID to target velocity with duty cycle feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

• VelocityDutyCycle Parameters:
  • Velocity: Velocity to drive toward in rotations per second.
  • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in fractional units between -1 and +1. This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [72/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::VelocityVoltage const & request )

pure virtual

Request PID to target velocity with voltage feedforward.

This control mode will set the motor's velocity setpoint to the velocity specified by the user. In addition, it will apply an additional voltage as an arbitrary feedforward value.

• VelocityVoltage Parameters:
  • Velocity: Velocity to drive toward in rotations per second.
  • Acceleration: Acceleration to drive toward in rotations per second squared. This is typically used for motion profiles generated by the robot program.

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • FeedForward: Feedforward to apply in volts This is added to the output of the onboard feedforward terms.
  • Slot: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

SetControl() [73/73]

virtual ctre::phoenix::StatusCode ctre::phoenix6::hardware::traits::HasTalonControls::SetControl ( controls::VoltageOut const & request )

pure virtual

Request a specified voltage.

This control mode will attempt to apply the specified voltage to the motor. If the supply voltage is below the requested voltage, the motor controller will output the supply voltage.

• VoltageOut Parameters:
  • Output: Voltage to attempt to drive at

  • EnableFOC: Set to true to use FOC commutation (requires Phoenix Pro), which increases peak power by ~15% on supported devices (see hardware::traits::SupportsFOC). Set to false to use trapezoidal commutation.

    FOC improves motor performance by leveraging torque (current) control. However, this may be inconvenient for applications that require specifying duty cycle or voltage. CTR-Electronics has developed a hybrid method that combines the performances gains of FOC while still allowing applications to provide duty cycle or voltage demand. This not to be confused with simple sinusoidal control or phase voltage control which lacks the performance gains.

  • OverrideBrakeDurNeutral: Set to true to static-brake the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0V to the motor.
  • LimitForwardMotion: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
  • LimitReverseMotion: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

  • IgnoreHardwareLimits: Set to true to ignore hardware limit switches and the LimitForwardMotion and LimitReverseMotion parameters, instead allowing motion.

    This can be useful on mechanisms such as an intake/feeder, where a limit switch stops motion while intaking but should be ignored when feeding to a shooter.

    The hardware limit faults and Forward/ReverseLimit signals will still report the values of the limit switches regardless of this parameter.

  • IgnoreSoftwareLimits: Set to true to ignore software limits, instead allowing motion.

    This can be useful when calibrating the zero point of a mechanism such as an elevator.

    The software limit faults will still report the values of the software limits regardless of this parameter.

  • UseTimesync: Set to true to delay applying this control request until a timesync boundary (requires Phoenix Pro and CANivore). This eliminates the impact of nondeterministic network delays in exchange for a larger but deterministic control latency.

    This requires setting the ControlTimesyncFreqHz config in MotorOutputConfigs. Additionally, when this is enabled, the UpdateFreqHz of this request should be set to 0 Hz.

Parameters

request

Control object to request of the device

Returns

Status code of the request

Implemented in ctre::phoenix6::hardware::core::CoreTalonFX, ctre::phoenix6::hardware::core::CoreTalonFXS, and ctre::phoenix6::hardware::traits::CommonTalon.

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The documentation for this class was generated from the following file:

• ctre/phoenix6/hardware/traits/HasTalonControls.hpp